This contact prevention device for a construction machine is provided with a ToF camera, an object determination unit, an obstacle information output unit, and a notification device. The ToF camera is provided with a light-emitting unit and a light-receiving unit, and can detect the received light intensity and the timing at which the light-receiving unit receives reflected light, which is light from the light-emitting unit that hits and is reflected by an object. The object determination unit determines the object on the basis of at least the received light intensity. The obstacle information output unit outputs information relating to an obstacle. The notification device makes a notification depending on the output results of the obstacle information output unit. The obstacle information output unit generates information relating to the obstacle on the basis of the distance to the object acquired by the ToF camera and the determination results of the object determination unit.